Vibration mechanism of constrained spatial flexible manipulators

Jin Soo Kim, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.

Original languageEnglish
Pages (from-to)123-128
Number of pages6
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Issue number1
Publication statusPublished - 2003 Mar
Externally publishedYes


  • Experiment
  • Lumped-parameter model
  • Position/force control
  • Simulation
  • Spatial flexible manipulator
  • Vibration suppression control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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